CN104764600B - Transmission error checking device for planetary gear carrier set - Google Patents
Transmission error checking device for planetary gear carrier set Download PDFInfo
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- CN104764600B CN104764600B CN201410354100.4A CN201410354100A CN104764600B CN 104764600 B CN104764600 B CN 104764600B CN 201410354100 A CN201410354100 A CN 201410354100A CN 104764600 B CN104764600 B CN 104764600B
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- input
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/021—Gearings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/025—Test-benches with rotational drive means and loading means; Load or drive simulation
- G01M13/026—Test-benches of the mechanical closed-loop type, i.e. having a gear system constituting a closed-loop in combination with the object under test
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
- G01M13/028—Acoustic or vibration analysis
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- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
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Abstract
The invention provides a planetary gear carrier group transmission error inspection device, comprising: a planetary carrier group configured to output a rotational speed input to an input side to an output side at a predetermined gear ratio via a planetary gear, a sun gear, and a ring gear; an input unit arranged on an upper side of the planetary carrier set and configured to input a predetermined input rotational speed to an input side of the planetary carrier set; a load unit disposed at a lower side of the planetary carrier set, connected to an output side of the planetary carrier set, and configured to apply a predetermined output load to the output side; and an adjustment block arranged to adjust the planet carrier set to fix the planet carrier set.
Description
Technical Field
The present invention relates to a planetary carrier set transmission error inspection device for inputting torque to a sun gear side and outputting torque thereto while applying a load to a carrier side, thereby measuring a transmission error between an input side and an output side.
Background
When a reduction gear for reducing the mechanical speed is used, a reduction gear of a planetary gear or the like is generally used. Specifically, in order to obtain a substantial reduction ratio, reduction gears of the planetary gears are generally used. Among the reduction gears of the planetary gears, there may be a substantially simple planetary gear reduction gear having one planetary gear set, and a complex planetary gear reduction gear having two or more complex planetary gear sets.
An apparatus for testing the efficiency of a planetary gear set is provided with a drive unit A and an output unit B for inputting rotation to test a large capacity planetary gearbox. In addition, when the rotation shaft of the planetary gear box is arranged in a horizontal direction, it may be difficult to accurately inspect the planetary gear set since the rotation shaft droops (sag) under the weight of the gears. Further, when it is intended to check the input and output when the planetary gearbox is mounted to the transmission, it is not easy to remove the planetary gearbox from the transmission when an error occurs.
The above information disclosed in the background of the invention is only for enhancement of understanding of the background of the invention and therefore it may contain information that constitutes prior art that is known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present invention is to provide a planetary carrier set transmission error inspection apparatus in which a rotation center shaft is prevented from drooping due to gravity, thereby performing input and output measurements more accurately, and to provide an environment in which a planetary carrier set is mounted to a transmission by applying a load to an output side when the planetary carrier set is not mounted to the transmission, thereby reducing assembly costs and simplifying measurement of input/output errors.
In an exemplary embodiment of the present invention, a planetary carrier set transmission error checking device may include: a planetary carrier group configured to output a rotational speed input to an input side to an output side at a predetermined gear ratio via a planetary gear, a sun gear, and a ring gear; an input unit arranged on an upper side of the planetary carrier set and configured to input a predetermined input rotational speed to an input side of the planetary carrier set; a load unit disposed at a lower side of the planetary carrier set, connected to an output side of the planetary carrier set, and configured to apply a predetermined output load to the output side; and an adjustment block arranged to adjust the planet carrier set to fix the planet carrier set.
The apparatus may further comprise: an output-side encoder and an input-side encoder configured to sense a rotational speed output to an output side and a rotational speed of an input side of the input unit; and a controller configured to operate the input unit and the load unit to input a predetermined speed to the input side and a predetermined load to the output side, thereby outputting a state signal of the planetary carrier set using the rotational speed signals of the input side and the output side sensed by the input side encoder and the output side encoder.
The input unit may include: an input servo motor configured to generate a predetermined torque and rotational speed; an input shaft fastened to the input side for transmitting torque and rotational speed from the servo motor to the input side, and a rear sun gear disposed at an end of the input shaft for transmitting torque to the input side planetary gear. The load unit may include: the load servo motor includes an output shaft arranged to be rotatably fastened to an output side from a lower side to an upper side, and a load servo motor configured to apply a predetermined load to the output shaft. The output side may be a front carrier extending to the underside of the planet carrier assembly.
Further, the load unit may include: a front sun gear fixing shaft extending from a lower side to an upper side so as to fix the front sun gear protruding from a substantially central portion to a lower side of the front frame, and a guide shaft inserted from the lower side to the upper side of the substantially central portion of the front sun gear fixing shaft by a predetermined distance. The input servomotor and the input shaft are configured to transmit rotation through the belt and the pulley, and the output shaft and the load servomotor are configured to transmit rotation through the belt and the pulley. The input unit may be disposed at an upper side so as to be vertically movable by a linear guide. The load unit may be disposed at a lower side, fixed in a vertical direction.
The apparatus may further comprise: a lifting unit configured to vertically move the input unit, wherein the lifting unit may include: a rotatably arranged lead screw, and a slider arranged to move vertically based on rotation of the lead screw. The apparatus may further comprise: and a frame configured to fix an input side and an output side of the planetary carrier group arranged in the vertical direction.
In an exemplary embodiment of the present invention, when the rotation shafts of the planetary carrier sets are vertically arranged, the problem of gear shaft sagging can be prevented by sensing the rotations of the input side and the output side through the encoders, respectively. Further, by applying a load to the output side when the planetary carrier set is not mounted to the transmission, an environment can be achieved in which the planetary carrier set is mounted to the transmission to reduce the assembly cost.
Drawings
FIG. 1A illustrates an exemplary cross-sectional view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention;
FIG. 1B illustrates an exemplary partial cross-sectional view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention;
FIG. 2 illustrates an exemplary partial side view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention;
FIG. 3 illustrates an exemplary partial view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention;
FIG. 4 illustrates an exemplary view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention;
FIG. 5 illustrates an exemplary partial side view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention.
Description of reference numerals:
10: controller
100: input servo motor
101: input shaft
102: load servo motor
103: belt
105: rear sun gear
110: input-side encoder
115: front frame
120: output belt wheel
122: output side encoder
125: intermediate central gear
130: front sun gear
135: planetary gear carrier set
137: guide shaft
140: front central gear fixing shaft
145: fixing ring
150: output shaft
200: frame structure
202: linear guide rail
210: lifting unit
215: lifting handle
217: screw rod
220: sliding block
300: regulating block
310: fixed lead screw
315: fixed sliding block
Detailed Description
It is understood that the term "vehicle" or "vehicular" or other similar terms as used herein includes motor vehicles in general, such as passenger vehicles including Sport Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats and ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, hybrid electric vehicles, hydrogen powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum).
While the exemplary embodiments are described as executing an exemplary program using multiple units, it will be appreciated that the exemplary program may also be executed by one or more modules. Additionally, it should be understood that the term controller/control unit refers to a hardware device that includes a memory and a processor. The memory is configured to store a module, and the processor is configured to execute the module to perform one or more programs described further below.
Furthermore, the control logic of the present invention may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, Compact Disk (CD) -ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable medium CAN be stored and executed in a distributed fashion, for example, via an telematics server or Controller Area Network (CAN).
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. According to the planetary carrier set transmission error inspection apparatus of the embodiment of the present invention for inspecting the planetary carrier set 135 before the planetary carrier set 135 is mounted to the transmission, the assembly cycle and the overall defect of the transmission can be reduced.
By inputting a torque of a predetermined speed to the input side and applying a predetermined load to the output side, an operating environment for mounting the carrier group to the transmission can be constructed. Then, by the input side encoder 110 and the output side encoder 122, a rotational speed difference between the input side and the output side can be calculated, the speed difference can be accumulated to measure a transmission error, and the transmission error can be separated using the RSA method. Further, when the input side and the output side are arranged on the same rotation shaft to horizontally arrange the rotation shaft, the gear shaft droops due to gravity, and thus it may be difficult to stably test the planetary carrier set 135. In an exemplary embodiment of the present invention, the rotation shafts of the planetary gear carrier group may be vertically arranged to prevent the gear shafts from sagging.
Fig. 4 illustrates an exemplary view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention, and fig. 5 illustrates an exemplary side view of a planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention.
Referring to fig. 5, the carrier group 135 may include a sun gear, a planetary gear, and a ring gear, not shown, a rear sun gear 105 (see fig. 1A) as an input side, a front carrier 115 as an output side, a front sun gear 130 extending along a central axis at a central portion of the front carrier 115, and an intermediate sun gear 125. In an exemplary embodiment of the present invention, the torque inputted via the rear sun gear 105 in the inspection apparatus may be outputted to the front carrier 115 side via a carrier within a planetary gear, ring gear and carrier group, the front sun gear 130 may be fixed by a front sun gear fixing shaft 140 (see fig. 1A) and a fixing ring 145 (see fig. 1A), and the middle sun gear 125 may be kept loose (unfasted). Referring to fig. 4, the planet carrier set transmission error checking apparatus may include a vertically arranged frame 200, wherein the planet carrier set 135 is fixed to the center of the frame 200.
Fig. 1A shows an exemplary cross-sectional view of the entire planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention, and fig. 1B shows an exemplary partial cross-sectional view of the planetary carrier set transmission error checking apparatus according to an exemplary embodiment of the present invention. Referring to fig. 1A and 1B, the planet carrier set transmission error checking apparatus may include a frame 200, an input unit, a planet carrier set 135, and a load unit.
An input unit, referred to as a planetary carrier set 135, disposed on an upper side of the frame 200 may include an input servomotor 100, an input shaft 101, an input-side encoder 110, a belt 103, an input pulley 112, a rear sun gear 105, and a linear guide 202. The input servomotor 100 may be configured to generate a torque and a rotational speed, the belt 103 may be configured to transmit the rotation of the input servomotor 100 to the input pulley 112, and the input pulley 112 may be configured to rotate the input shaft 101. The input shaft 101 may have a rear center gear 105 mounted to a lower end of the input shaft 101, and the input unit may have a structure in which the input unit is guided to move vertically by a linear guide 202. In addition, the input unit may have a structure in which when the input shaft 101 rotates, the rear sun gear 105 rotates. The input side encoder 110 may be configured to measure the rotational speed of the input shaft 101 and the rear sun gear 105, and transmit the measured signals to the controller 10.
The load unit may be disposed at a lower side of the frame 200 with reference to the planetary carrier set 135, and may include an output pulley 120 fastened to the front carrier 115, a load servo motor 102, a belt 103, an output shaft 150, a front sun gear fixing shaft 140, a fixing ring 145, a guide shaft 137, and an output encoder 122. The output pulley 120 may be fastened to the front carrier 115 of the planetary carrier set 135, and the output shaft 150 may be extended to a lower end of the output pulley 120. Therefore, the load unit may have a structure in which the output shaft 150, the output pulley 120, the belt 103, and the load servo motor 102 are rotatable together.
In an exemplary embodiment of the present invention, the load servomotor 102 may be configured to output a predetermined load and apply the load to the front carrier 115 in a direction opposite to a rotational direction of the output, wherein the front carrier 115 is an output side of the planetary carrier set 135. The output shaft 150 may be a hollow pipe arranged in a vertical direction, and the front center gear fixing shaft 140 may be vertically arranged inside the output shaft 150, and the fixing ring 145 may be arranged to be fixed to a tip end side of the front center gear fixing shaft 140. The front sun gear fixing shaft 140 and the fixing ring 145 can firmly fix the front sun gear 130 of the planet carrier assembly 135. The front sun gear fixing shaft 140 may be a hollow pipe vertically arranged, and the guide shaft 137 may be vertically arranged in a substantially central portion of the front sun gear fixing shaft 140 through a pipe space. The guide shaft may have a structure in which the guide shaft is inserted into a hole formed at a substantially central portion of the intermediate sun gear of the planetary carrier set by a predetermined distance. Therefore, when the carrier group 135 is fastened to the load unit of the frame 200, since the pointed side portion of the guide shaft 137 is inserted into the middle sun gear 125, the mounting work can be simplified.
Fig. 2 illustrates an exemplary partial side view of a transmission error checking apparatus of a planetary carrier set according to an exemplary embodiment of the present invention, and fig. 3 illustrates an exemplary partial top view of the transmission error checking apparatus of the planetary carrier set according to an exemplary embodiment of the present invention. Referring to fig. 3, the planet carrier assembly 135 may be secured to a load unit, and the adjustment blocks 300 mounted to the frame 200 may secure opposite sides of the planet carrier assembly 135.
When the fixing slider 315 moves and the adjusting block 300 moves in a horizontal direction on the frame 200 through the fixing slider 315, the planet carrier assembly 135 may be fixed to the frame 200, wherein the fixing slider 315 may move by the rotation of the fixing lead screw 310. Referring to fig. 2, the lifting unit 210 may be disposed on one side of the upper side of the frame 200, and the lifting unit 210 may include a linear guide 202 (see fig. 1A), a lead screw 217, a slider 220, and a lifting handle 215. The lifting unit 210 may have a structure in which the lead screw 217 is rotated according to the rotation of the lifting handle 215, and the slider 220 may be vertically moved by the rotation of the lead screw 217, thereby vertically moving the input unit, which may include the input shaft 101, the input pulley 112, and the rear sun gear 105, along the linear guide 202 by the vertical movement of the slider 220.
In exemplary embodiments of the present invention, the functions and advantages according to exemplary embodiments of the present invention may be obtained because the controller may execute a program or a series of instructions to operate the entire planetary carrier set transmission error checking device as well as the various controllable elements.
While the invention has been described in connection with what is presently considered to be example embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. On the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. A planetary carrier set transmission error inspection device includes:
a planetary carrier group configured to output a rotational speed input to an input side to an output side at a predetermined gear ratio via a planetary gear, a sun gear, and a ring gear;
an input unit arranged on an upper side of the planetary carrier set and configured to input a predetermined input rotational speed to an input side of the planetary carrier set;
a load unit disposed at a lower side of the planetary carrier set, connected to an output side of the planetary carrier set, and configured to apply a predetermined output load to the output side; and
an adjustment block arranged to adjust the planet carrier set to fix the planet carrier set,
wherein the load unit includes:
an output shaft arranged to be rotatably fastened to the output side from a lower side to an upper side, and the output side is a front carrier extended to a lower side of the planetary carrier group;
a load servo motor configured to apply a predetermined load to the output shaft;
a front sun gear fixing shaft extending from a lower side to an upper side so as to fix a front sun gear protruding from a substantially central portion to a lower side of the front frame; and
and a guide shaft inserted from a lower side to an upper side of a substantially central portion of the front sun gear fixing shaft by a predetermined distance.
2. The apparatus of claim 1, further comprising:
an output-side encoder and an input-side encoder configured to sense a rotational speed output to the output side and a rotational speed of an input side of the input unit; and
a controller configured to operate the input unit and the load unit to input a predetermined speed to the input side and a predetermined load to the output side, thereby outputting a state signal of the planetary carrier set using the rotational speed signals of the input side and the output side sensed by the input side encoder and the output side encoder.
3. The apparatus of claim 1, wherein the input unit comprises:
an input servo motor configured to generate a predetermined torque and rotational speed,
an input shaft fastened to the input side for transmitting the torque and the rotational speed from the servo motor to the input side, an
A rear sun gear disposed at an end of the input shaft for transmitting the torque to the input side planetary gear.
4. The apparatus of claim 1 or 3, wherein:
the input servomotor and the input shaft are configured to transmit rotation through a belt and a pulley, and
the output shaft and the load servomotor are configured to transmit rotation through a belt and a pulley.
5. The apparatus of claim 1, wherein the input unit is disposed at the upper side so as to be vertically movable by a linear guide.
6. The apparatus of claim 5, wherein the load cell is disposed at the lower side, fixed in a vertical direction.
7. The apparatus of claim 5, further comprising:
a lifting unit configured to vertically move the input unit,
wherein the lifting unit includes:
a rotatably arranged lead screw, and
a slider arranged to move vertically based on rotation of the lead screw.
8. The apparatus of claim 1, further comprising:
a frame configured to fix the input side and the output side of the planetary carrier set arranged in a vertical direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140001395A KR101534743B1 (en) | 2014-01-06 | 2014-01-06 | Planetary carrier pack transfer error inspection device |
| KR10-2014-0001395 | 2014-01-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104764600A CN104764600A (en) | 2015-07-08 |
| CN104764600B true CN104764600B (en) | 2020-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410354100.4A Active CN104764600B (en) | 2014-01-06 | 2014-07-23 | Transmission error checking device for planetary gear carrier set |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9664592B2 (en) |
| KR (1) | KR101534743B1 (en) |
| CN (1) | CN104764600B (en) |
| DE (1) | DE102014210722A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6180018B2 (en) * | 2013-07-09 | 2017-08-16 | 武蔵精密工業株式会社 | Gear inspection device |
| CN105841959B (en) * | 2016-06-13 | 2019-04-26 | 苏州大学 | A kind of experimental rig of planetary gear train load |
| KR101862092B1 (en) * | 2017-04-14 | 2018-05-29 | 주식회사 영인 | Electric drill for water supply |
| CN107884185B (en) * | 2017-11-13 | 2019-10-25 | 哈尔滨工业大学 | Single-stage double helical tooth planetary drive dynamics features Testbed |
| KR102046835B1 (en) * | 2017-11-29 | 2019-11-21 | 김호진 | Apparatus for measuring back of final reduction gear |
| CN109282986A (en) * | 2018-11-14 | 2019-01-29 | 北京工业大学 | Plastic Gear Transmission error testing testing stand |
| CN109253878A (en) * | 2018-11-14 | 2019-01-22 | 北京工业大学 | A kind of Plastic Gear Transmission error testing structure |
| DE102021125675A1 (en) | 2021-10-04 | 2023-04-06 | Audi Aktiengesellschaft | Method for operating a drive device for a motor vehicle and corresponding drive device |
| CN114152192B (en) * | 2021-12-08 | 2024-03-29 | 青岛默森制造技术有限公司 | Online detection machine, production line and method for planet wheel carrier planet gear shaft mounting holes |
| CN116750699A (en) * | 2023-08-18 | 2023-09-15 | 长春市华桀科技有限公司 | Artificial intelligence prevents down support frame |
| CN116967964B (en) * | 2023-09-22 | 2023-12-15 | 南通新思迪机电有限公司 | Combined clamp for partial movable clamping for gear detection |
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| JP2007040787A (en) * | 2005-08-02 | 2007-02-15 | Toyota Motor Corp | Device and method for measuring engagement transmission error |
| KR20090127169A (en) * | 2007-04-19 | 2009-12-09 | 고쿠사이 게이소쿠키 가부시키가이샤 | General-purpose test device, linear actuator, and twist test device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1909088A (en) * | 1930-11-26 | 1933-05-16 | Gleason Works | Gear testing machine |
| US3680373A (en) * | 1970-11-16 | 1972-08-01 | Gen Motors Corp | Gear testing device |
| US6754603B2 (en) * | 2002-03-04 | 2004-06-22 | General Motors Corporation | Virtual vehicle transmission test cell |
| US7544150B2 (en) * | 2005-05-23 | 2009-06-09 | Gm Global Technology Operations, Inc. | Engine torque error learn during dynamic vehicle test |
| KR101057143B1 (en) * | 2009-03-11 | 2011-08-22 | 한국기계연구원 | Mechanical Power Cyclic Planetary Gearbox Test Equipment |
| US9228640B2 (en) * | 2010-06-10 | 2016-01-05 | Irobot Corporation | Transmission assemblies |
| CN102607844B (en) * | 2012-04-10 | 2015-02-18 | 重庆大学 | Vertical experiment table for precise performance test of small-tooth-difference planetary reducer |
| CN202710308U (en) * | 2012-07-03 | 2013-01-30 | 索特传动设备有限公司 | Universal speed reducer testing bench |
-
2014
- 2014-01-06 KR KR1020140001395A patent/KR101534743B1/en active IP Right Grant
- 2014-06-02 US US14/293,318 patent/US9664592B2/en active Active
- 2014-06-05 DE DE102014210722.9A patent/DE102014210722A1/en active Pending
- 2014-07-23 CN CN201410354100.4A patent/CN104764600B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007040787A (en) * | 2005-08-02 | 2007-02-15 | Toyota Motor Corp | Device and method for measuring engagement transmission error |
| KR20090127169A (en) * | 2007-04-19 | 2009-12-09 | 고쿠사이 게이소쿠키 가부시키가이샤 | General-purpose test device, linear actuator, and twist test device |
Also Published As
| Publication number | Publication date |
|---|---|
| US9664592B2 (en) | 2017-05-30 |
| DE102014210722A1 (en) | 2015-07-09 |
| US20150192496A1 (en) | 2015-07-09 |
| CN104764600A (en) | 2015-07-08 |
| KR101534743B1 (en) | 2015-07-24 |
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